RSDK-9621: Add Discover Service and GetModelsFromModules to Typescript (

#436)

Co-authored-by: John <[email protected]>

src/robot/client.ts

@@ -24,11 +24,14 @@ import { PowerSensorService } from '../gen/component/powersensor/v1/powersensor_
 import { ServoService } from '../gen/component/servo/v1/servo_connect';
 import { RobotService } from '../gen/robot/v1/robot_connect';
 import {
+  // DiscoveryQuery deprecated, remove on march 10th
   DiscoveryQuery,
+  GetModelsFromModulesRequest,
   RestartModuleRequest,
   TransformPCDRequest,
   TransformPoseRequest,
 } from '../gen/robot/v1/robot_pb';
+import { DiscoveryService } from '../gen/service/discovery/v1/discovery_connect';
 import { MotionService } from '../gen/service/motion/v1/motion_connect';
 import { NavigationService } from '../gen/service/navigation/v1/navigation_connect';
 import { SLAMService } from '../gen/service/slam/v1/slam_connect';
@@ -133,6 +136,10 @@ export class RobotClient extends EventDispatcher implements Robot {
     | PromiseClient<typeof NavigationService>
     | undefined;
 
+  private discoveryServiceClient:
+    | PromiseClient<typeof DiscoveryService>
+    | undefined;
+
   private motionServiceClient: PromiseClient<typeof MotionService> | undefined;
 
   private visionServiceClient: PromiseClient<typeof VisionService> | undefined;
@@ -345,6 +352,13 @@ export class RobotClient extends EventDispatcher implements Robot {
     return this.navigationServiceClient;
   }
 
+  get discoveryService() {
+    if (!this.discoveryServiceClient) {
+      throw new Error(RobotClient.notConnectedYetStr);
+    }
+    return this.discoveryServiceClient;
+  }
+
   get motionService() {
     if (!this.motionServiceClient) {
       throw new Error(RobotClient.notConnectedYetStr);
@@ -603,6 +617,10 @@ export class RobotClient extends EventDispatcher implements Robot {
         SLAMService,
         clientTransport
       );
+      this.discoveryServiceClient = createPromiseClient(
+        DiscoveryService,
+        clientTransport
+      );
 
       this.emit(MachineConnectionEvent.CONNECTED, {});
     } catch (error) {
@@ -692,15 +710,26 @@ export class RobotClient extends EventDispatcher implements Robot {
     return resp.pointCloudPcd;
   }
 
-  // DISCOVERY
+  // DISCOVERY - deprecated, remove on march 10th
 
   async discoverComponents(queries: DiscoveryQuery[]) {
+    console.warn(
+      'RobotClient.discoverComponents is deprecated. It will be removed on March 10 2025. Use the DiscoveryService APIs instead.'
+    );
     const resp = await this.robotService.discoverComponents({
       queries,
     });
     return resp.discovery;
   }
 
+  // GET MODELS FROM MODULES
+
+  async getModelsFromModules() {
+    const request = new GetModelsFromModulesRequest({});
+    const resp = await this.robotService.getModelsFromModules(request);
+    return resp.models;
+  }
+
   // GET CLOUD METADATA
 
   async getCloudMetadata() {

src/robot/robot.ts

@@ -3,6 +3,7 @@ import { MachineConnectionEvent } from '../events';
 import type { PoseInFrame, Transform } from '../gen/common/v1/common_pb';
 import type proto from '../gen/robot/v1/robot_pb';
 import type { ResourceName } from '../types';
+import type { ModuleModel } from '../gen/robot/v1/robot_pb';
 
 export type CloudMetadata = proto.GetCloudMetadataResponse;
 
@@ -103,6 +104,8 @@ export interface Robot {
   ): Promise<Uint8Array>;
 
   /**
+   * Deprecated: v0.36.0, use the Discovery Service APIs instead.
+   *
    * Get the list of discovered component configurations.
    *
    * @param queries - The list of component models to discovery.
@@ -113,6 +116,14 @@ export interface Robot {
     queries: proto.DiscoveryQuery[]
   ): Promise<proto.Discovery[]>;
 
+  /**
+   * Get the list of discovered component configurations.
+   *
+   * @group ComponentConfig
+   * @alpha
+   */
+  getModelsFromModules(): Promise<ModuleModel[]>;
+
   /**
    * Get a list of all resources on the robot.
    *
@@ -173,12 +184,4 @@ export interface Robot {
    * @alpha
    */
   restartModule(moduleId?: string, moduleName?: string): Promise<void>;
-
-  /**
-   * Get version information about the robot, such as platform, version, and api
-   * version.
-   *
-   * @alpha
-   */
-  getVersion(): Promise<proto.GetVersionResponse>;
 }

src/services/discovery.ts

@@ -0,0 +1,2 @@
+export { DiscoveryClient } from './discovery/client';
+export type { Discovery } from './discovery/discovery';

src/services/discovery/client.spec.ts

@@ -0,0 +1,51 @@
+// @vitest-environment happy-dom
+
+import {
+  createPromiseClient,
+  createRouterTransport,
+} from '@connectrpc/connect';
+import { beforeEach, describe, expect, it, vi } from 'vitest';
+import { DiscoveryService } from '../../gen/service/discovery/v1/discovery_connect';
+import { DiscoverResourcesResponse } from '../../gen/service/discovery/v1/discovery_pb';
+import { RobotClient } from '../../robot';
+import { DiscoveryClient } from './client';
+import { ComponentConfig } from '../../gen/app/v1/robot_pb';
+vi.mock('../../robot');
+vi.mock('../../gen/service/discovery/v1/discovery_pb_service');
+
+const discoveryClientName = 'test-discovery';
+
+let discovery: DiscoveryClient;
+
+const discoveries: ComponentConfig = new ComponentConfig();
+
+describe('DiscoveryClient Tests', () => {
+  beforeEach(() => {
+    const mockTransport = createRouterTransport(({ service }) => {
+      service(DiscoveryService, {
+        discoverResources: () =>
+          new DiscoverResourcesResponse({ discoveries: [discoveries] }),
+      });
+    });
+
+    RobotClient.prototype.createServiceClient = vi
+      .fn()
+      .mockImplementation(() =>
+        createPromiseClient(DiscoveryService, mockTransport)
+      );
+    discovery = new DiscoveryClient(
+      new RobotClient('host'),
+      discoveryClientName
+    );
+  });
+
+  describe('Discovery Resources Tests', () => {
+    it('returns resources from a machine', async () => {
+      const expected = [discoveries];
+
+      await expect(discovery.discoverResources()).resolves.toStrictEqual(
+        expected
+      );
+    });
+  });
+});

src/services/discovery/client.ts

@@ -0,0 +1,51 @@
+import { Struct, type JsonValue } from '@bufbuild/protobuf';
+import type { CallOptions, PromiseClient } from '@connectrpc/connect';
+import { DiscoveryService } from '../../gen/service/discovery/v1/discovery_connect';
+import { DiscoverResourcesRequest } from '../../gen/service/discovery/v1/discovery_pb';
+import type { RobotClient } from '../../robot';
+import { doCommandFromClient } from '../../utils';
+import type { Options } from '../../types';
+import type { Discovery } from './discovery';
+
+/**
+ * A gRPC-web client for a Vision service.
+ *
+ * @group Clients
+ */
+export class DiscoveryClient implements Discovery {
+  private client: PromiseClient<typeof DiscoveryService>;
+  private readonly name: string;
+  private readonly options: Options;
+  public callOptions: CallOptions = { headers: {} as Record<string, string> };
+
+  constructor(client: RobotClient, name: string, options: Options = {}) {
+    this.client = client.createServiceClient(DiscoveryService);
+    this.name = name;
+    this.options = options;
+  }
+
+  async discoverResources(extra = {}, callOptions = this.callOptions) {
+    const request = new DiscoverResourcesRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    this.options.requestLogger?.(request);
+
+    const resp = await this.client.discoverResources(request, callOptions);
+    return resp.discoveries;
+  }
+
+  async doCommand(
+    command: Struct,
+    callOptions = this.callOptions
+  ): Promise<JsonValue> {
+    return doCommandFromClient(
+      this.client.doCommand,
+      this.name,
+      command,
+      this.options,
+      callOptions
+    );
+  }
+}

src/services/discovery/discovery.ts

@@ -0,0 +1,14 @@
+import type { Struct } from '@bufbuild/protobuf';
+import type { Resource } from '../../types';
+import type { ComponentConfig } from '../../gen/app/v1/robot_pb';
+
+/** A service that enables various computer vision algorithms */
+export interface Discovery extends Resource {
+  /**
+   * Get a list of component configs of all discovered components.
+   *
+   * @param discoveryName - The name of the discovery service.
+   * @returns - The list of ComponentConfigs.
+   */
+  discoverResources: (extra?: Struct) => Promise<ComponentConfig[]>;
+}